Eric,
I think you may be seriously underestimating the total weight of your boat, personal gear, fluids and the trailer!
My R-25 Classic has a factory published dry weight of 5,700 pounds. Your boat’s factory published dry weight is 5,000 pounds.
With my aluminum trailer my gross towing weight averages 9,750 pounds. Of that, 2,000 pounds is the weight of the trailer. The rest of the weight above the “dry weight” is my optional equipment, personal gear and the weight of fuel, fresh water and what’s in the black water tank.
If your boat on trailer were the same increase in dry weight as mine, you would be looking at a gross towing weight of 9,000 pounds or so. I suspect that the R-23 including trailer, gear, fluids is probably a few hundred pounds under 9,000. The only way to be sure is to measure the actual weight of an R-23 on a trailer like the one you want to buy.
Add some safety margin and you may need a tow vehicle with a minimum towing capability of 10,000 to 11,500 pounds. I don’t believe any SUV meets that spec.
To be safe on getting a good tow vehicle first weigh the boat on the trailer with all your normal gear and fluids in it - then decide on what you need!